The rapid spread of small unmanned aerial vehicles (UAVs) has raised concerns over public safety and security. In response, small multirotor drones are gaining attention as short-range interception platforms due to their flexible mission deployment. This study develops a Gazebo-based simulation environment by integrating ArduPilot SITL with ROS 2, where the pursuer operates at 1.3 times the target’s maximum speed under disturbance-free conditions. Three guidance schemes—Pure Proportional Navigation (PPN), True Proportional Navigation (TPN), and Zero-Effort Miss (ZEM)—are implemented and evaluated with varying navigation gains (N) using trajectory, interception time, and control effort as performance metrics. Results show that, compared with conventional missile systems, multirotor UAVs experience reduced thrust saturation and improved maneuvering stability at lower navigation gains, in both circular and linear engagement scenarios. By extending traditional high-speed interceptor guidance theories to multirotor platforms with explicit control logic, this work demonstrates a ROS 2–Gazebo–ArduPilot integrated simulation framework and presents its potential for future onboard application.